#!/usr/bin/env python3
from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
    return LaunchDescription(
        [
            Node(
                package="april_tag_finder",
                executable="camera_mono",
                name="camera_publisher_node",
                output="screen",
                parameters=[
                    {
                        "device": "/dev/video0",
                        "width": 1280,
                        "height": 720,
                        "fps": 30,
                        "flip_vertical": True,
                        "flip_horizontal": True,
                    }
                ],
            ),
            Node(
                package="april_tag_finder",
                executable="finder_auto",
                name="april_tag_finder_node",
                output="screen",
            ),
        ]
    )
